CN110713019B - Intelligent natural rubber block taking and stacking system - Google Patents
Intelligent natural rubber block taking and stacking system Download PDFInfo
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- CN110713019B CN110713019B CN201911088398.8A CN201911088398A CN110713019B CN 110713019 B CN110713019 B CN 110713019B CN 201911088398 A CN201911088398 A CN 201911088398A CN 110713019 B CN110713019 B CN 110713019B
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- natural rubber
- rubber block
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
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- Specific Conveyance Elements (AREA)
- Stacking Of Articles And Auxiliary Devices (AREA)
Abstract
The intelligent natural rubber block taking and stacking system comprises a conveying trolley (7) capable of moving back and forth along a double-rail track (4), a die (6) with a plurality of cavities in order arranged and arranged on the conveying trolley, natural rubber blocks baked and formed in the die, a stacking robot (1) with a hanging grabbing arm arranged on one side of the track and the conveying trolley, and a clamp (8) arranged on the hanging grabbing arm of the stacking robot and used for clamping the natural rubber blocks in the die; a rack (9) parallel to the tracks is arranged between the two tracks of the double-track, a motor (11) and a speed reducer (10) with a downward output shaft are arranged in the middle of the bottom of the rectangular frame type frame, a gear (12) is arranged on the output shaft of the speed reducer, and the gear is meshed with the rack. The invention can automatically take out the baked rubber blocks from the mould and automatically stack the baked rubber blocks in order.
Description
Technical Field
The invention relates to the technical field of automatic material taking and stacking, in particular to a system for automatically performing rubber demolding and rubber block stacking in the production of natural rubber wet baking.
Background
In the traditional natural rubber wet baking production, the baked rubber blocks are taken out of the mold and piled up by manual work. The manual operation mode has the advantages of high labor intensity of workers, low production efficiency, irregular stacking, bad air smoking at the stacking site, great harm to the bodies of the workers, unfixed grabbing positions when manually grabbing the rubber, easy breaking of the rubber blocks and reduction of the quality of the rubber blocks.
Disclosure of Invention
The invention aims to solve the problems in the prior art and provides an intelligent natural rubber block taking and stacking system which can automatically take out baked rubber blocks from a die and automatically stack the baked rubber blocks in order.
The technical scheme adopted by the invention is as follows:
The intelligent natural rubber block taking and stacking system comprises a conveying trolley capable of reciprocating along a double-rail track, a die provided with a plurality of cavities which are arranged in order and arranged on the conveying trolley, a natural rubber block baked and formed in the die, a stacking robot provided with a hanging grabbing arm and arranged on one side of the track and the conveying trolley, and a clamp arranged on the hanging grabbing arm of the stacking robot and used for clamping the natural rubber block in the die; the double-track vehicle is characterized in that racks parallel to the tracks are arranged between the two tracks of the double-track, a motor and a speed reducer with an downward output shaft are arranged in the middle of the bottom of the rectangular frame type vehicle frame, and a gear is arranged on the output shaft of the speed reducer and meshed with the racks.
The fixture comprises a connecting pipe which can be arranged on a suspension grabbing arm of the palletizing robot, a rectangular substrate arranged at the bottom end of the connecting pipe, two rectangular rotating plates symmetrically arranged below the substrate, and a rectangular push plate arranged below the rectangular rotating plates;
two pairs of ear seats and rotating shafts arranged on the ear seats are symmetrically arranged at the center line position of the bottom surface of the base plate, round holes, strip holes and base plate supports arranged on two sides of the strip holes are symmetrically arranged at the middle positions of two sides of the base plate, a rotatable cylinder seat and a rotating plate cylinder vertically arranged on the cylinder seat are arranged on the base plate supports, and a cylinder rod of the rotating plate cylinder penetrates through the strip holes downwards; push plate cylinders are symmetrically arranged on the two sides of the connecting pipe on the substrate support, and cylinder rods of the push plate cylinders downwards penetrate through round holes in the middle of the substrate and the rectangular rotating plates and are fixedly connected with the rectangular push plates;
The inner ends of the two rectangular rotating plates are respectively sleeved on the rotating shaft through at least two lantern rings, a rotating plate support is arranged on the top surface of the rectangular rotating plate, a rotatable joint connector is sleeved on a supporting shaft of the rotating plate support, and a cylinder rod head of the rotating plate cylinder is fixedly connected with the joint connector; a group of downward contact pins are arranged on the rectangular rotating plate;
A group of through holes are formed in the rectangular push plate, and the contact pins downwards penetrate through the through holes of the rectangular push plate; the four corners of the top surface of the rectangular push plate are respectively provided with a guide rod, the guide rods upwards penetrate through the rectangular rotating plate and the rectangular base plate, the four corners of the rectangular base plate are processed with guide rod holes for the guide rods to penetrate through, and linear bearings are arranged in the guide rod holes; the push plate cylinder and the rotating plate cylinder are controlled by a control system.
The electronic weighing device is arranged at the top end of the connecting pipe of the clamp.
The conveying trolley comprises a rectangular frame type frame and rollers symmetrically arranged on two sides of the bottom of the frame, wherein the rollers are placed on two side rails and roll along the rails.
The palletizing robot is arranged on the bracket. The die is provided with two rows of 24 grid cavities which are arranged in parallel.
According to the invention, through the cooperation of the palletizing robot and the reciprocating conveying trolley, in the process of continuously reciprocating conveying the conveying trolley and conveying the die, the baked and formed rubber blocks are continuously grabbed from the die through the clamp and are orderly piled on the tray arranged beside the palletizing robot, so that the production efficiency can be improved by more than 4 times, 3 workers can be reduced per shift of each line, the labor intensity of the workers is greatly reduced, and the production efficiency is improved. In addition, the clamp can vertically insert a plurality of contact pins into the soft rubber block which is solidified and formed in the die, and then the contact pins are driven to deflect by rotating the rectangular rotating plate, so that the rubber block can be taken out after being clamped stably once, automatic mechanical rubber grabbing is realized, the rubber block can be effectively prevented from being damaged, and the quality of the rubber block is ensured.
Drawings
FIG. 1 is a schematic view of a palletizing system of the present invention;
FIG. 2 is a schematic view of a transfer trolley mounted on a track;
FIG. 3 is a schematic illustration of the engagement of a gear with a rack;
FIG. 4 is a schematic structural view of a clamp;
FIG. 5 is a schematic view of the rectangular rotating plate rotation state of the clamp;
FIG. 6 is a schematic view of a rectangular rotating plate of the clamp sleeved on a rotating shaft;
fig. 7 is a schematic diagram of the working state of the clamp mounted on the overhanging grabbing arm of the palletizing robot for grabbing the rubber block.
Detailed Description
As shown in fig. 1, 2 and 3, the intelligent natural rubber block taking and stacking system comprises a conveying trolley 7 capable of reciprocating along two parallel tracks 4, a die 6 with a plurality of orderly arranged cavities and baked natural rubber blocks 13 in the die, a stacking robot 1 with a hanging grabbing arm, and a clamp 8, wherein the natural rubber blocks 13 are arranged on the conveying trolley, the stacking robot 1 is arranged on one side of the track and the conveying trolley, and the clamp 8 is arranged at the bottom end of the hanging grabbing arm of the stacking robot and used for clamping the natural rubber blocks in the die. A rack 9 parallel to the tracks is arranged between the two tracks of the double-track 4, a motor 11 and a speed reducer 10 with a downward output shaft are arranged in the middle of the bottom of the rectangular frame type frame, a gear 12 is arranged on the output shaft of the speed reducer, and the gear 12 is meshed with the rack 9. The conveying trolley 7 comprises a rectangular frame type frame and rollers 5 symmetrically arranged on two sides of the bottom of the frame, and the rollers are placed on two side rails and roll along the rails. The palletizing robot 1 can be arranged on a bracket 2, and a tray 3 is respectively arranged at two sides of the bracket 2. The track 4 is arranged on the ground, the rack 9 is arranged on a mounting plate on the ground, and the speed reducer 10 is connected with the motor 11 and then arranged at the bottom of the trolley 7. The motor 11 provides a power source for the conveying trolley and drives the conveying trolley to reciprocate along the track, the die containing baked glue blocks is continuously conveyed to the lower part of the overhanging grab arm of the palletizing robot, the glue blocks in the die are taken out through the clamp and are orderly stacked on the tray 3, and one tray is stacked and another tray is stacked. In this embodiment, the mold 6 is provided with 24-grid cavities in two rows arranged in parallel.
The fixture is shown in fig. 4,5, 6 and 7, and comprises a connecting pipe 8-10 which can be installed on a hanging grabbing arm of the palletizing robot 1, a rectangular base plate 8-7 installed at the bottom end of the connecting pipe, two rectangular rotating plates 8-3 symmetrically arranged below the base plate, and a rectangular pushing plate 8-5 arranged below the rectangular rotating plates.
Two pairs of ear seats 8-12 and rotating shafts 8-8 arranged on the ear seats are symmetrically arranged at the center line position of the bottom surface of the substrate, round holes, strip holes 8-6 and substrate supports 8-13 arranged on two sides of the strip holes are symmetrically arranged at the middle positions of two sides of the substrate, rotatable cylinder seats 8-15 and rotating plate cylinders 8-2 vertically arranged on the cylinder seats are arranged on the substrate supports, and cylinder rods 8-16 of the rotating plate cylinders penetrate downwards through the strip holes; push plate cylinders 8-1 are symmetrically arranged on the two sides of the connecting pipe on the substrate support, and cylinder rods of the push plate cylinders downwards penetrate through round holes in the middle of the substrate and are fixedly connected with the rectangular push plates 8-5 after rectangular rotating plates 8-3. The long strip hole 8-6 for the cylinder rod of the rotating plate cylinder to pass through is a waist-shaped hole or a rectangular hole, and the long shaft of the long strip hole is arranged along the length direction of the base plate so that the cylinder rod of the rotating plate cylinder can push the rectangular rotating plate to rotate and reset stably and limit the cylinder rod; the inner ends of the two rectangular rotating plates 8-3 are sleeved on the rotating shaft 8-8 through at least two lantern rings 8-21 respectively, and the rectangular rotating plates can rotate along the rotating shaft 8-8. The top surface of the rectangular rotating plate is provided with a rotating plate support 8-19, a rotatable joint 8-17 is sleeved on a fulcrum shaft 8-18 of the rotating plate support, and a head of a cylinder rod 8-16 of the rotating plate cylinder is fixedly connected with the joint 8-17; a set of downward pins 8-4 are mounted on the rectangular rotating plate. A group of through holes 8-20 are formed in the rectangular push plate 8-5, and the contact pins 8-4 downwards penetrate through the through holes 8-20 of the rectangular push plate 8-5. The four corners of the top surface of the rectangular push plate are respectively provided with guide rods 8-14, the guide rods upwards penetrate through the rectangular rotating plate 8-3 and the rectangular base plate 8-7, four corners of the rectangular base plate 8-7 are provided with guide rod holes for the guide rods to penetrate through, the guide rod holes are provided with linear bearings 8-11, and the four guide rods 8-14 play a guiding role and can stably and synchronously move in the linear bearings so as to control the stable lifting of the rectangular push plate 8-5. The push plate cylinder 8-1 and the rotating plate cylinder 8-2 are connected with a palletizing robot control system, and the control system controls actions. Two ends of the connecting pipe 8-10 are welded with a flange 8-22 respectively, the upper flange is connected with an electronic weighing device 8-9, and the electronic weighing device is connected with a stacking robot. The lower end flange is connected with the rectangular base plate 8-7. The electronic weighing device can weigh the gripped rubber blocks, transmit the weighed rubber blocks to the control system and display the weighed rubber blocks on the display.
The push plate cylinder 8-1, the rotary plate cylinder 8-2 and the motor 11 of the travelling mechanism of the clamp are controlled by a set of designed independent systems, and are matched with a tracking system and an identification system of a palletizing robot to grasp and palletize rubber blocks 13 on the moving trolley 7.
As shown in fig. 1 and 7, the top end of the connecting pipe 8-10 is arranged on the suspension grabbing arm 1-1 of the palletizing robot 1, and the clamp is controlled to work through a palletizing robot control system. Through the cooperation of palletizing robot and reciprocating motion's travelling bogie, in the reciprocating motion delivery mould in-process that travelling bogie was incessant, grasp the rubber brick of baking shaping in the mould through anchor clamps in succession to neatly pile up on the tray 3 of placing beside palletizing robot. The specific working process is as follows:
a. starting the motor 11, and moving the die 6 with the baked glue blocks 13 to a glue taking and stacking station by the conveying trolley 7;
b. The stacking robot moves the clamp to the position right above the rubber mold 6, at the moment, the push plate cylinder 8-1 and the rotating plate cylinder 8-2 are in a retracted position, the two rectangular rotating plates 8-3 are in a horizontal state, the contact pin 8-4 is in a vertical state, and the rectangular push plate 8-5 is retracted to be in a high position point;
c. The palletizing robot controls the suspension grabbing arm to act, the clamp is moved downwards, the contact pin 8-4 is inserted into the rubber block 13 in the mould, and the mould is kept fixed;
d. The rotating plate air cylinder 8-2 stretches out to push the two rectangular rotating plates 8-3 to rotate in opposite directions by taking the rotating shaft 8-8 as the center, so that the contact pins 8-4 on the left rectangular rotating plate and the right rectangular rotating plate are driven to clamp inwards, the rubber block is held tightly, then the stacking robot controls the hanging grabbing arm to lift upwards, the clamp holding the rubber block is lifted, and the rubber block can be taken out and transferred to the tray 3;
e. the rectangular rotating plate 8-3 rotates around the rotating shaft 8-8 as a center, and when the pin 8-4 is in a vertical state, the rubber block is loosened;
f. The push plate cylinder 8-1 pushes out to drive the rectangular push plate 8-5 to move downwards, so that the rubber block inserted on the pin is pushed out downwards, the rubber block is separated from the pin 8-4, and the rubber block falls onto the tray 3;
g. The push plate cylinder 8-1 is retracted to drive the rectangular push plate 8-5 to reset upwards, so that the action of grabbing the rubber block once is completed;
h. repeating the steps b-g, taking out the glue blocks in the mould block by block and stacking the glue blocks on the tray 3 until all the glue blocks in the mould are taken out;
i. And (3) the conveying trolley 7 returns the empty mould 6 with the baked rubber blocks 13, then moves the next mould 6 with the baked rubber blocks to a rubber taking and stacking station, repeats the steps b-h, automatically takes out the baked rubber blocks from the mould, and automatically stacks the rubber blocks on a tray in order.
The palletizing robot 7 directly adopts the palletizing robot in the prior art. The push plate cylinder 8-1, the rotary plate cylinder 8-2 and the motor 14 of the travelling mechanism of the clamp are controlled by a set of designed independent systems, and the control system of the palletizing robot is used for jointly controlling the rubber taking and palletizing.
Claims (5)
1. The intelligent natural rubber block taking and stacking system is characterized by comprising a conveying trolley (7) capable of reciprocating along a double-rail track (4), a die (6) with a plurality of cavities in order arranged and a natural rubber block baked and formed in the die, a stacking robot (1) with a hanging grabbing arm and arranged on one side of the track and the conveying trolley, and a clamp (8) arranged on the hanging grabbing arm of the stacking robot (1) and used for clamping the natural rubber block in the die, wherein the conveying trolley is provided with a plurality of cavities in order; a rack (9) parallel to the tracks is arranged between the two tracks of the double-track (4), a motor (11) and a speed reducer (10) with a downward output shaft are arranged in the middle of the bottom of the rectangular frame type frame, a gear (12) is arranged on the output shaft of the speed reducer, and the gear (12) is meshed with the rack (9);
The fixture (8) comprises a connecting pipe (8-10) which can be arranged on a suspension grabbing arm of the palletizing robot (1), a rectangular base plate (8-7) arranged at the bottom end of the connecting pipe, two rectangular rotating plates (8-3) symmetrically arranged below the base plate, and a rectangular push plate (8-5) arranged below the rectangular rotating plates; two pairs of ear seats (8-12) and rotating shafts (8-8) arranged on the ear seats are symmetrically arranged at the center line position of the bottom surface of the substrate, round holes, strip holes (8-6) and substrate supports (8-13) arranged on two sides of the strip holes are symmetrically arranged at the middle positions of two sides of the substrate, rotatable cylinder seats (8-15) and rotating plate cylinders (8-2) vertically arranged on the cylinder seats are arranged on the substrate supports, and cylinder rods (8-16) of the rotating plate cylinders downwards penetrate through the strip holes; push plate cylinders (8-1) are symmetrically arranged on the two sides of the connecting pipe on the substrate support, and cylinder rods of the push plate cylinders downwards penetrate through round holes in the middle of the substrate and the rectangular rotating plates (8-3) and then are fixedly connected with the rectangular push plates (8-5); the inner ends of the two rectangular rotating plates (8-3) are sleeved on the rotating shaft (8-8) through at least two lantern rings (8-21), a rotating plate support (8-19) is arranged on the top surface of the rectangular rotating plate, a rotatable joint (8-17) is sleeved on a supporting shaft of the rotating plate support, and a head of a cylinder rod (8-16) of the rotating plate cylinder is fixedly connected with the joint (8-17); a group of downward contact pins (8-4) are arranged on the rectangular rotating plate; a group of through holes (8-20) are formed in the rectangular push plate (8-5), and the contact pins (8-4) downwards penetrate through the through holes (8-20) of the rectangular push plate (8-5); guide rods (8-14) are respectively arranged at four corners of the top surface of the rectangular push plate, the guide rods upwards penetrate through the rectangular rotating plate (8-3) and the rectangular base plate (8-7), guide rod holes for the guide rods to penetrate through are processed at four corners of the rectangular base plate (8-7), and linear bearings (8-11) are arranged in the guide rod holes; the push plate cylinder (8-1) and the rotating plate cylinder (8-2) are controlled by a control system.
2. The intelligent natural rubber block taking and stacking system according to claim 1, wherein an electronic weighing device (8-9) is arranged at the top end of a connecting pipe (8-10) of the clamp.
3. The intelligent natural rubber block taking and stacking system according to claim 1, wherein the conveying trolley (7) comprises a rectangular frame type frame and rollers (5) symmetrically arranged on two sides of the bottom of the frame, and the rollers are placed on two side rails and roll along the rails.
4. The intelligent natural rubber block taking and stacking system according to claim 1, wherein the stacking robot (1) is mounted on a support (2).
5. The intelligent natural rubber block taking and stacking system according to claim 1, wherein the die (6) is provided with two rows of 24 grid cavities arranged in parallel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911088398.8A CN110713019B (en) | 2019-11-08 | 2019-11-08 | Intelligent natural rubber block taking and stacking system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911088398.8A CN110713019B (en) | 2019-11-08 | 2019-11-08 | Intelligent natural rubber block taking and stacking system |
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| Publication Number | Publication Date |
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| CN110713019A CN110713019A (en) | 2020-01-21 |
| CN110713019B true CN110713019B (en) | 2024-07-02 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201911088398.8A Active CN110713019B (en) | 2019-11-08 | 2019-11-08 | Intelligent natural rubber block taking and stacking system |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110682320B (en) * | 2019-11-08 | 2024-08-13 | 中国机械总院集团云南分院有限公司 | Natural rubber block grabbing clamp |
| CN113664849A (en) * | 2021-02-23 | 2021-11-19 | 米其林集团总公司 | Robot equipped with gripper for performing picking process |
| FR3120069B1 (en) | 2021-02-23 | 2023-02-10 | Michelin & Cie | Automated Cell for Crate Management Made during a Binding Process for Rubber Blocks |
| US12304737B2 (en) | 2021-05-06 | 2025-05-20 | Compagnie Generale Des Etablissements Michelin | Automated flow control for rubber product manufacturing processes |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN211254467U (en) * | 2019-11-08 | 2020-08-14 | 云南省机械研究设计院 | Natural rubber block intelligent material taking and stacking system |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA2640989A1 (en) * | 2007-10-15 | 2009-04-15 | Delaware Capital Formation, Inc. | Articulating package palletizing system |
| DE202010011298U1 (en) * | 2010-08-12 | 2010-10-21 | Grenzebach Maschinenbau Gmbh | Device for the automated separation and assembly of differently structured containers of commision goods |
| CN103862480A (en) * | 2014-03-25 | 2014-06-18 | 江苏中科机器人科技有限公司 | Mechanical paw and multi-station mechanical paw for palletizing robot |
| CN103964209A (en) * | 2014-05-16 | 2014-08-06 | 秦皇岛宏阳机械制造有限公司 | Automatic circulating type stacking system for formed bricks |
| CN110127142B (en) * | 2019-05-28 | 2023-12-05 | 海南中橡科技有限公司 | Automatic packaging production line for natural rubber |
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- 2019-11-08 CN CN201911088398.8A patent/CN110713019B/en active Active
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN211254467U (en) * | 2019-11-08 | 2020-08-14 | 云南省机械研究设计院 | Natural rubber block intelligent material taking and stacking system |
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Country or region after: China Address after: 650031 No. 309, Hongling Road, Wuhua District, Kunming City, Yunnan Province Applicant after: China National Machinery Institute Group Yunnan Branch Co.,Ltd. Address before: 650031 No. 309, Hongling Road, Wuhua District, Kunming City, Yunnan Province Applicant before: YUNNAN MACHINERY RESEARCH & DESIGN INSTITUTE Country or region before: China |
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